A cleaning robot with a gripping end device

Abstract

The utility model discloses a kind of grabbing end device of cleaning robot, including robot body, mechanical arm and grabbing end unit. The mechanical arm end is equipped with connecting end, including with first electromagnetic block's extension plate, engagement shaft and positioning pin;The grabbing end unit includes base and the slidable grabbing end part, and its end block is equipped with with engagement shaft sleeve joint's engagement slot, with the positioning hole of the cooperation of positioning pin, and with the second electromagnetic block of the magnetic attraction cooperation of first electromagnetic block, realize quick disassembly and accurate positioning. The grabbing end part is also equipped with driving motor and grabbing gripper, and gripping jaw adopts screw block and multi-connecting rod combined mechanism, driving gripping jaw opens and closes, and can be adjusted according to object shape Self-adapting angle of clamping, form envelope type grabbing. Gripping jaw end is equipped with with arc corrugation's clamping plate, improve friction and prevent object damage. The utility model has the advantages of reliable connection, grabbing stability, strong adaptability, suitable for a variety of garbage pickup scene.

Description

Technical Field

[0001] This utility model relates to cleaning robot technology, and more particularly to a gripping end effector for a cleaning robot. Background Technology

[0002] In the field of cleaning robot technology, end effectors typically connect to robotic arms via mechanical interfaces to perform waste-grabbing tasks. However, existing connection structures often employ simple threaded fastenings or physical snap-fit ​​methods, resulting in significant issues with insufficient rigidity and low positioning accuracy.

[0003] Especially during robot movement or grasping, vibration or load changes can easily cause slight movements or even loosening of the connecting parts, resulting in relative displacement between the grasping end effector and the robotic arm. This not only affects the accuracy of grasping and positioning but also causes unstable force transmission, thereby reducing the grasping success rate and the overall reliability of the system, limiting the effectiveness of cleaning robots in complex environments.

[0004] Furthermore, traditional grippers have a simple structure and are difficult to adapt to waste of different shapes and sizes, such as thin paper towels and irregular plastic bottles, which can easily lead to gripping failure or objects slipping out.

[0005] Therefore, there is a need for further improvement of the existing technology. Summary of the Invention

[0006] To address the shortcomings of the existing technology, this invention proposes a gripping end effector for a cleaning robot.

[0007] The technical solution of this utility model is implemented as follows: A gripping end effector for a cleaning robot includes a robot body, a robotic arm, and a gripping end effector unit, characterized in that, The robotic arm includes a robotic arm body and a connecting end. The connecting end includes an end shaft. One end of the end shaft is provided with an extension plate. The lower end of the extension plate is provided with a first electromagnetic block. The side of the extension plate away from the end shaft is provided with a locking shaft. At least one positioning pin is provided on the circumferential side of the locking shaft. The gripping end unit includes a base and a gripping end portion. The gripping end portion can slide up and down along the base. The gripping end portion includes an end block. The end block has a locking groove that engages with the locking shaft, a positioning hole that cooperates with the positioning pin, and a second electromagnetic block that attracts the first electromagnetic block. A drive motor is installed on the side of the end block away from the connecting end, and the output shaft of the drive motor is connected to the gripping claw. The gripping claw includes a bushing, and a lead screw is provided in the middle of the bushing. The output shaft of the drive motor is connected to the lead screw and can drive the lead screw to rotate. A frame is fixedly connected to one side of the bushing, and a slider is provided in the middle of the frame. The slider cooperates with the lead screw, and the slider can move along the lead screw axis when the lead screw rotates. The slider has a first connecting rod at both ends. One end of the first connecting rod is connected to a second connecting rod. The end of the second connecting rod away from the first connecting rod is provided with a gripper. The end of the gripper is connected to one end of a third connecting rod. The other end of the third connecting rod is installed on the top of the frame.

[0008] In the gripping end device of this cleaning robot, a controller is provided on both the first electromagnetic block and the second electromagnetic block. The controller is used to control whether the first electromagnetic block and the second electromagnetic block are energized and the electromagnetic strength of the first electromagnetic block and the second electromagnetic block.

[0009] In the gripping end device of this cleaning robot, the outer surface of the locking shaft is provided with a number of bead grooves at equal intervals in the circumferential direction.

[0010] In the gripping end device of this cleaning robot, the gripper is provided with a clamping plate, the clamping plate is provided with arc-shaped ripples, and the clamping plate is covered with a soft material.

[0011] In the gripping end device of this cleaning robot, the gripping end portion is detachably connected to the connecting end via the magnetic attraction of the first electromagnetic block and the second electromagnetic block.

[0012] In the gripping end device of this cleaning robot, the drive motor drives the gripper to open and close via a lead screw and slider.

[0013] In the end-grabbing device of this cleaning robot, the gripper, through a linkage mechanism of a first link, a second link, and a third link, can adaptively adjust the gripping angle according to the shape of the object to form an enveloping grip.

[0014] The end-effector of this cleaning robot, which implements the present invention, has the following beneficial effects: By magnetically engaging the connecting end and the gripping end unit, combined with the engagement of the locking shaft and the locking groove, and the engagement of the positioning pin and the positioning hole, the gripping end can be quickly assembled and disassembled and precisely positioned, avoiding circumferential rotation and axial slippage, thus improving connection rigidity and reliability.

[0015] Adaptive gripping capability: The gripping claw adopts a combination of linkage mechanism and lead screw slider. The drive motor controls the opening and closing of the gripper, which can adaptively adjust the gripping angle according to the shape of the object to form an envelope gripping, effectively adapting to garbage of different shapes and sizes, and improving the gripping success rate and stability.

[0016] The gripper ends are equipped with a wavy, curved clamping plate, which increases gripping friction and prevents objects from slipping. At the same time, it can be wrapped with soft material to avoid scratches or dents on the object's surface, making it especially suitable for fragile items.

[0017] By adjusting the energization state and electromagnetic intensity of the electromagnetic block through the controller, precise control of the locking force can be achieved to adapt to different load requirements; the drive motor and lead screw transmission provide precise motion control to ensure a smooth and reliable gripping process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the gripping end device of this utility model; Figure 2 This is a partial structural schematic diagram of the gripping end device of this utility model; Figure 3 This is a schematic diagram of the structure of the connecting end of this utility model; Figure 4 This is a structural entity diagram of the grasping end unit of this utility model; Figure 5 This is an exploded view of the gripping end unit of this utility model; Figure 6 This is a partial structural diagram of the gripping end unit of this utility model; Figure 7 for Figure 6 A magnified structural diagram of point A in the middle.

[0019] The reference numerals in the attached figures are as follows: 10 - Robot body, 20 - Robotic arm, 21 - Robotic arm body, 22 - Connecting end, 221 - End shaft, 222 - Extension plate, 223 - First electromagnetic block, 224 - Engaging shaft, 225 - Positioning pin, 226 - Bead groove, 30 - Grasping end unit, 31 - Base, 32 - End block, 321 - Engaging groove, 323 - Positioning hole, 324 - Second electromagnetic block, 325 - Controller, 33 - Drive motor, 34 - Grasping gripper, 341 - Bushing, 342 - Lead screw, 343 - Skeleton, 344 - Slider, 345 - First link, 346 - Second link, 347 - Gripper, 348 - Third link, 349 - Clamping plate. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0021] Reference Figures 1 to 7 As shown, this embodiment proposes a gripping end effector for a cleaning robot, comprising a robot body 10, a robotic arm 20, and a gripping end unit 30. The robot body 10 has drive wheels at its bottom for controlling the robot to move to the cleaning location, whereby the robotic arm 20, in conjunction with the gripping end unit 30, picks up litter from the ground.

[0022] Furthermore, refer to again Figures 2 to 3 As shown, the robotic arm 20 consists of a robotic arm body 21 and a connecting end 22. The connecting end 22 is magnetically engaged with the grasping end unit 30. The connecting end 22 includes an end shaft 221, one end of which is provided with an extension plate 222, and the lower end of the extension plate 222 is provided with a first electromagnetic block 223.

[0023] In this embodiment, a locking shaft 224 is provided on the side of the extension plate 222 away from the end shaft 221. At least one positioning pin 225 is provided on one circumferential side of the locking shaft 224. A plurality of bead grooves 226 are provided circumferentially at equal intervals on the outer surface of the locking shaft 224.

[0024] The gripping end unit 30 includes a base 31 and a gripping end portion, as shown in the figure. Figure 4 As shown, the gripping end portion can slide up and down along the base 31.

[0025] The gripping end portion includes an end block 32 that mates with the connecting end 22. The end block 32 includes: a locking groove 321 that engages with the locking shaft 224; a positioning hole 323 that mates with the positioning pin 225 to restrict the circumferential rotation of the end block 32; and a second electromagnetic block 324 that attracts the first electromagnetic block 223 above the end block 32 to restrict the axial sliding of the end block 32.

[0026] Preferably, a controller 325 is provided on both the first electromagnetic block 223 and the second electromagnetic block 324. The controller 325 is used to control whether the first electromagnetic block 223 and the second electromagnetic block 324 are energized and the electromagnetic strength of the first electromagnetic block 223 and the second electromagnetic block 324.

[0027] In this embodiment, a drive motor 33 is mounted on the side of the end block 32 away from the connecting end 22. The output shaft of the drive motor 33 is connected to the gripping jaw 34.

[0028] Among them, refer to again Figures 6 to 7As shown, the gripper 34 includes a bushing 341, and a lead screw 342 is provided in the middle of the bushing 341. The output shaft of the drive motor 33 is connected to the lead screw 342 and can drive the lead screw 342 to rotate.

[0029] A frame 343 is fixedly connected to one side of the bushing 341. A slider 344 is provided in the middle of the frame 343. The slider 344 cooperates with the lead screw 342. When the lead screw 342 rotates, the slider 344 can move along... Figure 6 Move in the direction of the middle arrow.

[0030] Furthermore, the slider 344 is provided with first connecting rods 345 at both ends, one end of the first connecting rod 345 being connected to a second connecting rod 346. A gripper 347 is provided at the end of the second connecting rod 346 away from the first connecting rod 345. The end of the gripper 347 is connected to one end of a third connecting rod 348, and the other end of the third connecting rod 348 is mounted on the top of the frame 343.

[0031] Preferably, the gripper 347 is provided with a clamping plate 349, which is provided with arc-shaped corrugations to increase the friction of the clamping plate 349.

[0032] In this embodiment, the robot body 10 serves as a mobile base, equipped with drive wheels at its bottom, responsible for supporting the entire system and navigating to the target cleaning area. The robotic arm 20, mounted on the robot body, consists of a robotic arm body 21 and a connecting end 22, and is responsible for precisely positioning the gripping end unit 30 above the target waste. The gripping end unit 30 is quickly connected to or detached from the robotic arm 20 via magnetic attraction, and is responsible for ultimately performing the gripping action.

[0033] Furthermore, the connecting end 22 of the robotic arm 20 descends, causing its front engagement shaft 224 to insert into the engagement groove 321 of the end block 32 of the gripping end unit 30. At the same time, the positioning pin 225 on the end head inserts into the positioning hole 323 on the end block. This design effectively prevents the gripping end unit from rotating circumferentially during operation.

[0034] After alignment, the controller 325 is activated, energizing the first electromagnetic block 223 on the connecting end extension plate 222 and the second electromagnetic block 324 on the end block 32. A strong electromagnetic attraction is generated between them, firmly attaching the end block 32 to the connecting end 22, thus restricting any sliding of the end block in the axial direction and achieving a rigid connection and force transmission. The locking force can be controlled by adjusting the electromagnetic strength through the controller.

[0035] Furthermore, the robot body 10 moves via its bottom drive wheels, transporting the entire system to the approximate area where the target waste is located. The robotic arm 20 then begins to work, with its multiple joints moving in coordination to adjust the spatial attitude and position of the connecting end 22 and the entire gripping end unit 30 fixed thereto, ultimately precisely lowering and positioning it directly above the waste to be gripped, preparing for the gripping action.

[0036] The drive motor 33 located below end block 32 is activated, and its output shaft drives the lead screw 342 inside the gripper 34 to rotate. The rotational motion of the lead screw 342 is converted into the linear motion of the slider 344 that works in conjunction with it. Depending on the direction of rotation of the lead screw, the slider will move along... Figure 6 The arrows indicate whether the lead screw moves forward or backward along its axis.

[0037] During the grasping process, the slider 344 moves forward, pushing the first connecting rods 345 at both ends. The first connecting rods 345 then push the second connecting rod 346, causing a pair of grippers 347 to open outward around the connection point between their end third connecting rod 348 and the top of the frame 343, forming a ready-to-grab posture. Subsequently, the robotic arm presses down, causing the open grippers to wrap around the target object. Then, the drive motor 33 reverses, driving the slider 344 to move backward. Through the transmission of the first connecting rods 345 and the second connecting rod 346, the grippers 347 are forced to close inward, achieving the envelopment of the object.

[0038] Thanks to the first / second / third linkage structure, the gripper 347 can adaptively adjust its angle according to the shape of the object when closed, forming a multi-point contact envelope grip. This ensures that whether it is a thin tissue or toilet paper scrap, or a larger, irregularly shaped item such as a plastic water bottle, it can be held stably and gently.

[0039] The tips of the grippers 347 can be wrapped with a non-slip soft material such as rubber or silicone. This not only significantly improves the friction during gripping and prevents objects from slipping, but also effectively avoids scratches or indentations on the object's surface during gripping, which is especially important for fragile items.

[0040] After the object is grasped, the robotic arm transports it to the collection bin, and the drive motor 33 rotates forward again to open the grippers and release the object. The system can then begin the next cleaning task.

[0041] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gripping end effector for a cleaning robot, comprising a robot body (10), a robotic arm (20), and a gripping end effector unit (30), characterized in that, The robotic arm (20) includes a robotic arm body (21) and a connecting end (22). The connecting end (22) includes an end shaft (221). One end of the end shaft (221) is provided with an extension plate (222). The lower end of the extension plate (222) is provided with a first electromagnetic block (223). A locking shaft (224) is provided on the side of the extension plate (222) away from the end shaft (221). At least one positioning pin (225) is provided on one circumferential side of the locking shaft (224). The gripping end unit (30) includes a base (31) and a gripping end portion. The gripping end portion can slide up and down along the base (31). The gripping end portion includes an end block (32). The end block (32) has a locking groove (321) that engages with the locking shaft (224), a positioning hole (323) that cooperates with the positioning pin (225), and a second electromagnetic block (324) that attracts the first electromagnetic block (223). A drive motor (33) is installed on the side of the end block (32) away from the connecting end (22), and the output shaft of the drive motor (33) is connected to the gripping jaw (34); The gripper (34) includes a bushing (341), and a lead screw (342) is provided in the middle of the bushing (341). The output shaft of the drive motor (33) is connected to the lead screw (342) and can drive the lead screw (342) to rotate. A frame (343) is fixedly connected to one side of the bushing (341). A slider (344) is provided in the middle of the frame (343). The slider (344) cooperates with the lead screw (342). When the lead screw (342) rotates, the slider (344) can move along the lead screw axis. The slider (344) has a first connecting rod (345) at both ends. One end of the first connecting rod (345) is connected to a second connecting rod (346). The end of the second connecting rod (346) away from the first connecting rod (345) is provided with a gripper (347). The end of the gripper (347) is connected to one end of a third connecting rod (348). The other end of the third connecting rod (348) is installed on the top of the frame (343).

2. The gripping end device according to claim 1, characterized in that, Both the first electromagnetic block (223) and the second electromagnetic block (324) are equipped with a controller (325). The controller (325) is used to control whether the first electromagnetic block (223) and the second electromagnetic block (324) are energized and the electromagnetic strength of the first electromagnetic block (223) and the second electromagnetic block (324).

3. The gripping end device according to claim 1, characterized in that, The outer surface of the locking shaft (224) is provided with a number of bead grooves (226) at equal intervals in the circumferential direction.

4. The gripping end device according to claim 1, characterized in that, The gripper (347) is provided with a clamping plate (349), the clamping plate (349) is provided with arc-shaped ripples, and the clamping plate (349) is covered with a soft material.

5. The gripping end device according to claim 1, characterized in that, The gripping end portion is detachably connected to the connecting end (22) through the magnetic attraction of the first electromagnetic block (223) and the second electromagnetic block (324).

6. The gripping end device according to claim 1, characterized in that, The drive motor (33) drives the gripper (347) to open and close through the transmission of the lead screw (342) and the slider (344).

7. The gripping end device according to claim 1, characterized in that, The gripper (347) can adaptively adjust the gripping angle according to the shape of the object through the linkage mechanism of the first link (345), the second link (346) and the third link (348) to form an enveloping grip.

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